#ifndef KI_H_
#define KI_H_

#include "RRT.h"

/** 
  * Checks whether the IR sensors detected an obstacle in front of the robot.
  *
  * \return 1 if an obstacle was detected, else 0.
  */
uint8_t is_obstacle_IFOM();

/**
  * Checks whether there is a marker on the floor under the robot.
  * The more white the marker is, the higher the chance that the function detects it.
  *
  * \return 1 if a marker was detected, else 0.
  */
uint8_t is_marker_OTF();



#endif /* KI_H_ */